Grounding Language with Visual Affordances over Unstructured Data
Paper • 2210.01911 • Published
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "tsfile/tsfile_py_cpp.pyx", line 567, in tsfile.tsfile_py_cpp.tsfile_reader_new_c
tsfile.exceptions.FileOpenError: 28:
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 271, in _split_generators
scan = self._scan_metadata(all_files)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 318, in _scan_metadata
with self._open_reader(file) as reader:
~~~~~~~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 742, in _open_reader
return TsFileReader(file)
File "tsfile/tsfile_reader.pyx", line 323, in tsfile.tsfile_reader.TsFileReaderPy.__init__
SystemError: <class '_weakrefset.WeakSet'> returned a result with an exception set
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 66, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
taco_play
Converted from the Hugging Face dataset
lerobot/taco_play to
Apache TsFile format.
Modalities: Time-series.
Source Dataset
The source TACO Play dataset was created using LeRobot. The original dataset page links to the Kaggle homepage at https://www.kaggle.com/datasets/oiermees/taco-robot and the papers https://arxiv.org/abs/2209.08959 and https://arxiv.org/abs/2210.01911.
- License: cc-by-4.0
- Source scale: 3,603 episodes, 237,798 frames, 406 tasks, 15 fps
- Source robot type:
unknown - Source video streams:
observation.images.rgb_staticandobservation.images.rgb_gripper
Converted Files
data/taco_play.tsfile: one TsFile table containing all train episodesmeta/info.json: source metadata rewritten to describe the TsFile artifactmeta/stats.json,meta/tasks.parquet,meta/episodes/chunk-000/file-000.parquet: source metadata mirrored for reference
Videos are not included in this repository. They remain in the original Hugging Face dataset under https://huggingface.co/datasets/lerobot/taco_play/tree/main/videos.
TsFile Schema
Time: millisecond timestamp, synthesized asround(timestamp * 1000).- TAG columns:
episode_index,task_index. - FIELD columns:
frame_index,sample_index,next_reward,next_done,observation_state_0..observation_state_6, andaction_0..action_6.
Vector columns preserve the source column name with . replaced by _, then
append the element index. observation.state[7] becomes
observation_state_0..observation_state_6; action[7] becomes
action_0..action_6. Vector values are stored as single-precision FLOAT.
The source timestamp column is dropped because it is redundant with Time.
The source index column is renamed to sample_index. Source video feature
columns are omitted from the TsFile table and remain available in the original
dataset.
Read Example
Use the Apache TsFile Java or Python SDK to read:
data/taco_play.tsfile
The table name is taco_play. Query a single episode by filtering the TAG:
WHERE episode_index = 0
Citation
@inproceedings{rosete2022tacorl,
author = {Erick Rosete-Beas and Oier Mees and Gabriel Kalweit and Joschka Boedecker and Wolfram Burgard},
title = {Latent Plans for Task Agnostic Offline Reinforcement Learning},
journal = {Proceedings of the 6th Conference on Robot Learning (CoRL)},
year = {2022}
}
@inproceedings{mees23hulc2,
title = {Grounding Language with Visual Affordances over Unstructured Data},
author = {Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2023},
address = {London, UK}
}
- Downloads last month
- 50